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The frames necessary to run the navigation stack can vary based on its configuration. You might, for example, run the navigation stack in an odometric frame which would mean that you'd need something like "odom -> base_link -> base_laser" at minimum. However, if you run with a static map or SLAM, you'd want a tf tree that looks something like "map -> odom -> base_link -> base_laser." At the very least, the navigation stack requires some sort of global frame to work properly. So, setting the global_frame parameter of the costmap to something like "base_link" wouldn't make much sense.
If you were to use the configuration described in the Setup and Configuration Tutorial, 4 frames are required: "map->odom->base_link->base_laser."
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